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30 lines
1.5 KiB
30 lines
1.5 KiB
<launch>
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<arg name="rviz" default="true" doc="whether to show Rviz" />
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<arg name="teleop_type" default="keyboard" doc="how to teleop ('keyboard', 'joystick', or 'none')" />
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<arg name="gazebo_world" default="worlds/willowgarage.world" doc="the environment within which Stretch is loaded in Gazebo" />
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<arg name="gazebo_gpu_lidar" default="false" doc="whether to compute lidar with hardware acceleration (requires GPU)" />
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<arg name="gazebo_visualize_lidar" default="false" doc="whether to visualize planar lidar within Gazebo" />
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<!-- GAZEBO SIMULATION -->
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<include file="$(find stretch_gazebo)/launch/gazebo.launch">
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<arg name="world" value="$(arg gazebo_world)" />
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<arg name="visualize_lidar" value="$(arg gazebo_visualize_lidar)" />
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<arg name="gpu_lidar" value="$(arg gazebo_gpu_lidar)" />
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</include>
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<!-- TELEOP -->
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<include file="$(find stretch_core)/launch/teleop_twist.launch">
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<arg name="teleop_type" value="$(arg teleop_type)" />
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<arg name="linear" value="1.0" />
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<arg name="angular" value="2.0" />
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<arg name="twist_topic" value="/stretch_diff_drive_controller/cmd_vel" />
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</include>
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<!-- MAPPING -->
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<node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" />
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" if="$(arg rviz)" />
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</launch>
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